Support apparatus

ABSTRACT

A support apparatus includes: a protective frame connected body to hold a plurality of protection targets flexibly, each protection target being a flexible cable or pipe having one end connected to a fixed-side member and the other end connected to a movable-side member that moves relative to the fixed-side member, the protective frame connected body having a bending portion bent in a middle, an upper side and a lower side of the protective frame connected body overlapped vertically; a lower supporter to support the lower side of the protective frame connected body; and a plurality of upper supporters, each of the plurality of upper supporters supporting the upper side of the protective frame connected body at a predetermined position of the protective frame connected body and being moved by movement of the movable-side member to pass the bending portion without being in contact with the bending portion.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is based on PCT filing PCT/JP2020/031111, filedAug. 18, 2020, which claims priority to JP 2019-149896, filed Aug. 19,2019, the entire contents of each are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to a support apparatus that supports aprotective frame connected body to protect and hold flexibly a pluralityof flexible cables or pipes each having one end connected to afixed-side member and the other end connected to a movable-side member.

BACKGROUND ART

A large structure having a movable-side member, such as a telescope andan antenna, includes a support apparatus that supports rotatably cablesor pipes for transmitting energy and information between themovable-side member and a fixed-side member. In a large structure suchas a telescope and an antenna that requires precise driving, it isnecessary to reduce friction and the like that is generated at the timeof driving in order to maximize its performance.

In recent years, telescopes and antennas become larger and larger. Thesupport apparatuses that support rotatably cables or pipes also becomelarger. In the support apparatuses having the same structure asconventional ones, the friction at the time of driving would increasewith increase in size of the apparatuses. In the support apparatus, acable guide in which protective frame bodies that are frame bodieshaving a plurality of holes each individually allowing a cable or a pipeto pass through are connected in the direction in which the cableextends is supported by a plurality of supporters having rollers. Thepositions of the supporters are not moved. The roller rolls in responseto movement of the cable guide (protective frame connected body), andthe supporters support the cable guide at different positions. Thismechanism can prevent sagging of the cable guide and can support thelarge cable guide. Furthermore, a bending portion that is bent in asemicircular shape connects the cable guide extending above and below.When the bending portion of the cable guide moves, the supporter ispushed by the bending portion, and the supporter is retracted (see PTL1).

CITATION LIST Patent Literature

-   PTL 1: U.S. Pat. No. 8,575,486

SUMMARY OF INVENTION Technical Problem

In the structure disclosed in PTL 1, it is difficult to move themovable-side member with required accuracy due to rolling frictionbetween the protective frame connected body and the supporters.

Solution to Problem

A support apparatus according to the present disclosure includes: aprotective frame connected body to hold a plurality of protectiontargets flexibly, each protection target being a flexible cable or pipehaving one end connected to a fixed-side member and the other endconnected to a movable-side member that moves relative to the fixed-sidemember, the protective frame connected body including a plurality ofprotective frame bodies connected flexibly in an extending directionthat is a direction in which the protection targets extend, each of theprotective frame bodies having a plurality of holes to allow theprotection targets to pass through and having a predetermined length inthe extending direction, the protective frame connected body having abending portion bent in a middle, an upper side and a lower side of theprotective frame connected body being overlapped vertically; a lowersupporter to support the lower side of the protective frame connectedbody; and a plurality of upper supporters, each of the plurality ofupper supporters supporting the upper side of the protective frameconnected body at a predetermined position of the protective frameconnected body and being moved by movement of the movable-side member topass the bending portion without being in contact with the bendingportion.

Advantageous Effects of Invention

The present disclosure can reduce friction that is generated between theprotective frame connected body and the supporters when the movable-sidemember moves.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view illustrating the structure of a rotationalwinding support apparatus according to a first embodiment.

FIG. 2 is a front view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment.

FIG. 3 is a plan view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment.

FIG. 4 is a right-side view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment.

FIG. 5 is a rear view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment.

FIG. 6 is a perspective view illustrating the structure of therotational winding support apparatus according to the first embodiment,not showing a movable-side member.

FIG. 7 is a front view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment, not showingthe movable-side member.

FIG. 8 is a plan view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment, not showingthe movable-side member.

FIG. 9 is a right-side view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment, not showingthe movable-side member.

FIG. 10 is a rear view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment, not showingthe movable-side member.

FIG. 11 is a perspective view illustrating the structure of a guidesupport of the rotational winding support apparatus according to thefirst embodiment.

FIG. 12 is a front view in a state in which the guide support of therotational winding support apparatus according to the first embodimentsupports a cable guide.

FIG. 13 is a front view in a state in which the guide support of therotational winding support apparatus according to the first embodimentis opened.

FIG. 14 is a front view illustrating a light ray emitted by opticalsensor in a state in which the guide support of the rotational windingsupport apparatus according to the first embodiment supports the cableguide.

FIG. 15 is a diagram illustrating a drive mechanism for the guidesupport of the rotational winding support apparatus according to thefirst embodiment.

FIG. 16 is a block diagram illustrating a configuration of a controldevice that controls the rotational winding support apparatus accordingto the first embodiment.

FIG. 17 is a diagram illustrating a state in which the cable guide ismoved when the rotational winding support apparatus according to thefirst embodiment rotates counterclockwise.

FIG. 18 is a diagram illustrating a state in which the cable guide ismoved when the rotational winding support apparatus according to thefirst embodiment rotates clockwise.

FIG. 19 is a perspective view illustrating the structure of therotational winding support apparatus according to the first embodimentrotated by 45 degrees, not showing the movable-side member.

FIG. 20 is a perspective view illustrating the structure of therotational winding support apparatus according to the first embodimentrotated by 90 degrees, not showing the movable-side member.

FIG. 21 is a perspective view illustrating the structure of therotational winding support apparatus according to the first embodimentrotated by 135 degrees, not showing the movable-side member.

FIG. 22 is a perspective view illustrating the structure of therotational winding support apparatus according to the first embodimentrotated by 180 degrees, not showing a movable-side member.

FIG. 23 is a perspective view illustrating the structure of therotational winding support apparatus according to the first embodimentrotated by 225 degrees.

FIG. 24 is a front view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment rotated by225 degrees.

FIG. 25 is a plan view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment rotated by225 degrees.

FIG. 26 is a right-side view illustrating the structure of therotational winding support apparatus according to the first embodimentrotated by 225 degrees.

FIG. 27 is a rear view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment rotated by225 degrees.

FIG. 28 is a perspective view illustrating the structure of therotational winding support apparatus according to the first embodimentrotated by 225 degrees, not showing the movable-side member.

FIG. 29 is a front view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment rotated by225 degrees, not showing the movable-side member.

FIG. 30 is a plan view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment rotated by225 degrees, not showing the movable-side member.

FIG. 31 is a right-side view illustrating the structure of therotational winding support apparatus according to the first embodimentrotated by 225 degrees, not showing the movable-side member.

FIG. 32 is a rear view illustrating the structure of the rotationalwinding support apparatus according to the first embodiment rotated by225 degrees, not showing the movable-side member.

FIG. 33 is a plan view in a state in which the rotational windingsupport apparatus according to the first embodiment rotates and theoptical sensor on one side detects an object.

FIG. 34 is a plan view in a state in which the rotational windingsupport apparatus according to the first embodiment rotates and theoptical sensor on one side detects an object to open the guide support.

FIG. 35 is a plan view in a state in which the rotational windingsupport apparatus according to the first embodiment further rotates fromFIG. 34 .

FIG. 36 is a plan view in a state in which the rotational windingsupport apparatus according to the first embodiment further rotates fromFIG. 35 and the optical sensors on both sides detect an object.

FIG. 37 is a plan view in a state in which the rotational windingsupport apparatus according to the first embodiment further rotates fromFIG. 36 .

FIG. 38 is a plan view in a state in which the rotational windingsupport apparatus according to the first embodiment further rotates fromFIG. 37 and the optical sensor on the side first detecting an objectstops detecting the object.

FIG. 39 is a plan view in a state in which the rotational windingsupport apparatus according to the first embodiment further rotates fromFIG. 38 and the optical sensor on neither side detects an object.

FIG. 40 is a plan view in a state in which the optical sensor on neitherside detects an object and the guide support is closed in the rotationalwinding support apparatus according to the first embodiment.

FIG. 41 is a diagram illustrating a process in which the support rolleris moved and the guide support passes through a bending portion in therotational winding support apparatus according to the first embodiment.

FIG. 42 is a block diagram illustrating a configuration of the controldevice that controls the rotational winding support apparatus accordingto a second embodiment.

FIG. 43 is a diagram illustrating an example of an angle-supportposition correspondence table in the control device that controls therotational winding support apparatus according to the second embodiment.

FIG. 44 is a block diagram illustrating a configuration of the controldevice that controls a linear drive support apparatus according to athird embodiment.

DESCRIPTION OF EMBODIMENTS First Embodiment

Referring to FIG. 1 to FIG. 10 , the structure of a rotational windingsupport apparatus 50 according to a first embodiment is described. FIG.1 to FIG. 5 are a perspective view, a front view, a plan view, aright-side view, and a rear view of rotational winding support apparatus50. FIG. 6 to FIG. 10 are a perspective view, a front view, a plan view,a right-side view, and a rear view of rotational winding supportapparatus 50 not showing a movable-side member 1. For ease ofvisibility, in the front view, the right-side view, and the rear view ofrotational winding support apparatus 50, only the objects present infront of a plane passing through the center of rotation of rotationalwinding support apparatus 50 are depicted.

Rotational winding support apparatus 50 mainly includes a fixed-sidemember 2, movable-side member 1, a plurality of tubes 3, a cable guide4, and a plurality of guide supports 5. The cable guide is a member thatprotects a bundle of cables or pipes. The cable guide is formed byconnecting a plurality of protective frame bodies flexibly. Theprotective frame bodies is described later. Rotational winding supportapparatus 50 has two cable guides 4 _(A) and 4 _(B). Each of guidesupports 5 supports cable guide 4 _(A) or cable guide 4 _(B) from below.Cable guide 4 may be a single. Two cable guides can protect and supportmore cables if the number of cables protected and supported by one cableguide is equal. When the same number of cables are protected andsupported, the size of the cable guide can be reduced by using two cableguides.

Tubes 3 are pipes filled with oil for a hydraulic mechanism. A pluralityof tubes 3 include a group protected by cable guide 4 _(A) and a groupprotected by cable guide 4 _(B). A group of tubes 3 protected by cableguide 4 _(A) is called tubes 3 _(A). A group of tubes 3 protected bycable guide 4 _(B) is called tubes 3 _(B).

Fixed-side member 2 is fixed to a structure. Movable-side member 1 ismovable relative to fixed-side member 2. Fixed-side member 2 is shapedlike a circle having a diameter of about 8 m as viewed from above.Fixed-side member 2 has a cylindrical outer shape having a small heightrelative to its diameter. Fixed-side member 2 has a frame structure inwhich frame members are connected. On the upper surface of fixed-sidemember 2, plate members having an opening at the center are provided toform a ring. Cable guides 4 _(A) and 4 _(B) are bent in the middle, andupper portions and lower portions of cable guides 4 _(A) and 4 _(B)extend above and below. The lower portions of cable guides 4 _(A) and 4_(B) are placed on the upper surface of fixed-side member 2. The lowersides of cable guides 4 _(A) and 4 _(B) are present on the circularfixed-side member 2. Cable guides 4 _(A) and 4 _(B) are bent in an arcshape as viewed from above. On the one-end side, cable guides 4 _(A) and4 _(B) are supported on fixed-side member 2 by fixed-side supporters 6_(A) and 6 _(B). On the other-end side, cable guides 4 _(A) and 4 _(B)are supported by movable-side member 1 with movable-side supporters 7_(A) and 7 _(B).

One end of each of tubes 3 _(A) and 3 _(B) is present below apredetermined position in the circumferential direction of fixed-sidemember 2. Although a connected part is not shown, one end of each oftubes 3 _(A) and 3 _(B) connects to fixed-side member 2. Connecting tofixed-side member 2 includes connecting not only to fixed-side member 2but also to a member fixed to the structure. On the one-end side, tubes3 _(A) extending upward from below fixed-side member 2 enter cable guide4 _(A). Tubes 3 _(B) enter cable guide 4 _(B). Tubes 3 _(A) and 3 _(B)extending upward from below enter the inside of cable guides 4 _(A) and4 _(B) bent to be horizontal. Tubes 3 _(A) and 3 _(B) are bent andextend in opposite directions in a substantially horizontal plane. Tubes3 _(A) and 3 _(B) are arranged adjacent to each other at portionsextending vertically.

Movable-side member 1 has such a shape that forms a circular space likea doughnut in its inside together with fixed-side member 2. The circularspace is substantially rectangular in section. Movable-side member 1 hasa cylindrical outer surface and inner surface and a circular uppersurface. Movable-side member 1 has plate members attached to the frameformed by connecting the frame members.

At a predetermined position in the circumferential direction ofmovable-side member 1, the other end of each of tubes 3 _(A) and 3 _(B)is present outside of the outer surface of movable-side member 1.Although a connected part is not shown, the other end of each of tubes 3_(A) and 3 _(B) connects to movable-side member 1. The other end may beconnected to a member detachable from movable-side member 1. Connectingto a member movable in the same manner as movable-side member 1 includesconnecting to movable-side member 1. On the other-end side, tubes 3 _(A)and 3 _(B) extend in the radial direction of movable-side member 1 in ahorizontal plane, are bent toward the circumferential direction, andenter the inside of the respective cable guides 4 _(A) and 4 _(B). Tubes3 _(A) and 3 _(B) extend in two directions opposite to each other in thecircumferential direction of movable-side member 1 in a horizontalplane. In the inside of cable guides 4 _(A) and 4 _(B), tubes 3 _(A) and3 _(B) are present in a horizontal plane at the same level. Tubes 3 _(A)are present in a horizontal plane at the same level as the inside ofcable guide 4 _(A) even on the outside of cable guide 4 _(A). Tubes 3_(B) at the other end are present just below tubes 3 _(A). Tubes 3 _(B)are bent on the outside of cable guide 4 _(B), become horizontal at anupper position by the diameter of tube 3 _(B), and enter the inside ofcable guide 4 _(B).

Movable-side member 1 is rotatable around a vertical rotation axis.Movable-side member 1 includes a drive control device 40 (shown in FIG.16 ) to drive rotation of movable-side member 1. The state in which oneend and the other end of each of tubes 3 _(A) and 3 _(B) are locatedabove and below substantially at the same position in thecircumferential direction is referred to as a reference state. Thereference state is a state shown in FIG. 1 to FIG. 10 . The Y axis isset at a position of fixed-side member 2 corresponding to the center oftubes 3 _(A) and 3 _(B) extending upward from below at the one-end sideof tubes 3 _(A) and 3 _(B). The Y axis is the angular reference in ahorizontal plane. In the vicinity of the Y axis, tubes 3 _(A) and 3 _(B)extend toward below fixed-side member 2. The X axis orthogonal to the Yaxis in a horizontal plane is set. The Z axis is set in a directionvertical to the horizontal plane. The angle around the center ofrotation of movable-side member 1 in the XY plane is 0 degrees in thepositive direction of the Y axis and 90 degrees in the negativedirection of the X axis.

The Y1 axis is set at a position of movable-side member 1 correspondingto the center of tubes 3 _(A) and 3 _(B) overlapped vertically on theother-end side. The X1 axis orthogonal to the Y1 axis in a horizontalplane is set. The X1 axis and the Y1 axis rotate together withmovable-side member 1. The state in which the Y1 axis and the Y axiscoincide is the reference state. In the reference state, the rotationangle θ of movable-side member 1 is 0 degrees. The rotation angle θ ispositive when movable-side member 1 rotates counterclockwise.Movable-side member 1 is rotatable in the range of rotation angles θ,for example, from +225 degrees to −225 degrees.

Fixed-side supporters 6 _(A) and 6 _(B) are provided symmetrically withrespect to the Y axis in the vicinity of the Y axis. Movable-sidesupporters 7 _(A) and 7 _(B) are provided symmetrically with respect tothe Y1 axis in the vicinity of the Y1 axis.

A plurality of tubes 3 _(A) and 3 _(B) are flexible. A plurality oftubes 3 _(A) are bundled without twist nor tangle and protected by cableguide 4 _(A). A plurality of tubes 3 _(B) are bundled without twist nortangle and protected by cable guide 4 _(B).

Cable guides 4 _(A) and 4 _(B) have the same structure. The structure ofcable guide 4 _(A) is described. Cable guide 4 _(A) is a structure inwhich protective frame bodies that are frames having a plurality ofholes to allow a plurality of tubes 3 _(A) to pass through areconnected. Each of the protective frame bodies has, for example, 11holes in the radial direction of fixed-side member 2 and for example,two rows of holes in the height direction. The protective frame body hasa length defined in the direction in which tubes 3 _(A) extend(extending direction). A member surrounding each of a plurality of holescan be considered as a single frame. A member having a plurality ofholes as a whole may be considered as a single frame. A plurality ofprotective frame bodies are coupled in such a manner that the connectionangle is changeable in the extending direction to form cable guide 4_(A). Cable guide 4 _(A) is flexible. Cable guide 4 _(A) protects tubes3 _(A) such that external force is not exerted on tubes 3 _(A). Each oftubes 3 _(A) enters any one of holes of cable guide 4 _(A) without beingtwisted. The number of tubes 3 _(A) entering one hole is limited to afew, so that cable guide 4 _(A) prevents tangle of tubes 3 _(A).

Cable guide 4 _(A) has a lower guide 8 _(A), an upper guide 9 _(A), anda bending portion 10 _(A). Lower guide 8 _(A) is placed on fixed-sidemember 2. Upper guide 9 _(A) is present above lower guide 8 _(A). Upperguide 9 _(A) is supported by guide supports 5. Bending portion 10 _(A)is a bending portion of the turned back cable guide 4 _(A). Bendingportion 10 _(A) is present between lower guide 8 _(A) and upper guide 9_(A). Bending portion 10 _(A) is a portion at which cable guide 4 _(A)is bent in the middle. At bending portion 10 _(A), the protective framebodies are connected while being bent. As viewed from the side, bendingportion 10 _(A) has an arc shape. Because of the presence of bendingportion 10 _(A), lower guide 8 _(A) and upper guide 9 _(A) are locatedabove and below. The direction in which lower guide 8 _(A) extends andthe direction in which upper guide 9 _(A) extends are oppositedirections.

Cable guide 4 _(B) has a lower guide 8 _(B), an upper guide 9 _(B), anda bending portion 10 _(B) in the same manner as cable guide 4 _(A).

Cable guides 4 _(A) and 4 _(B) are arranged such that bending portions10 _(A) and 10 _(B) are adjacent to each other. As is described later,when movable-side member 1 rotates, bending portions 10 _(A) and 10 _(B)move. Bending portions 10 _(A) and 10 _(B) are moved in thecircumferential direction relative to fixed-side member 2 andmovable-side member 1. Bending portions 10 _(A) and 10 _(B) are movedsuch that the distance therebetween is substantially constant.

Cable guides 4 _(A) and 4 _(B) are protective frame connected bodies forholding respective tubes 3 _(A) and 3 _(B) flexibly, in which aplurality of protective frame bodies are connected flexibly in theextending direction. Tubes 3 _(A) and 3 _(B) are protection targets suchas cable or pipes protected by cable guides 4 _(A) and 4 _(B),respectively. Lower guides 8 _(A) and 8 _(B) are lower sides of cableguides 4 _(A) and 4 _(B) overlapped vertically. Fixed-side member 2 is alower supporter that supports lower guides 8 _(A) and 8 _(B). Upperguides 9 _(A) and 9 _(B) are upper sides of cable guides 4 _(A) and 4_(B) overlapped vertically.

Guide supports 5 support the upper sides of cable guides 4 _(A) and 4_(B) from below. Guide supports 5 are fixed to the upper surface ofmovable-side member 1. Guide supports 5 are provided to extend towardthe center of rotation of movable-side member 1. As viewed from above,guide supports 5 are provided to intersect cable guides 4 _(A) and 4_(B) in the arc shape.

Since movable-side member 1 is large with a diameter of about 8 m, cableguides 4 _(A) and 4 _(B) are also large and heavy. Guide supports 5being moved together with movable-side member 1 are provided to supportcable guides 4 _(A) and 4 _(B) at about 2 m intervals. Rotationalwinding support apparatus 50 includes eight guide supports 5. The numberof guide supports 5 is determined as appropriate depending on the sizeof the rotational winding support apparatus and the size and weight ofthe cable guides.

In the X1Y1 coordinates that are moved together with movable-side member1, movable-side supporters 7 _(A) and 7 _(B) are present at symmetricpositions on both sides of the Y1 axis. The rotation angle θ ofmovable-side member 1 is the angle between the Y1 axis moving togetherwith movable-side member 1 and the fixed Y axis.

Eight guide supports 5 are denoted by guide supports 5 ₁, 5 ₂, 5 ₃, 5 ₄,5 ₅, 5 ₆, 5 ₇, and 5 ₈ in increasing order of the angle to the Y1 axis.The position of movable-side supporters 7 _(A) and 7 _(B) and guidesupport 5 _(j) (j=1, 2, . . . , 8) is represented as follows by theangle between the Y1 axis and a half line connecting the center ofrotation of movable-side member 1 to guide support 5.

Movable-side supporter 7 _(A)=23 degrees

Guide support 5 ₁=72 degrees

Guide support 5 ₂=108 degrees

Guide support 5 ₃=144 degrees

Guide support 5 ₄=168 degrees

Guide support 5 ₅=192 degrees

Guide support 5 ₆=216 degrees

Guide support 5 ₇=252 degrees

Guide support 5 ₈=288 degrees

Movable-side supporter 7 _(B)=337 degrees

The spacing between adjacent guide supports 5 is as follows.

Between movable-side supporter 7 _(A) and guide support 5 ₁=about 49degrees

Between guide supports 5 ₁, and 5 ₂=36 degrees

Between guide supports 5 ₂ and 5 ₃=36 degrees

Between guide supports 5 ₃ and 5 ₄=24 degrees

Between guide supports 5 ₄ and 5 ₅=24 degrees

Between guide supports 5 ₅ and 5 ₆=24 degrees

Between guide supports 5 ₆ and 5 ₇=36 degrees

Between guide supports 5 ₇ and 5 ₈=36 degrees

Between guide support 5 ₈ and movable-side supporter 7 _(B)=about 49degrees

The spacing between movable-side supporter 7 _(A) and guide support 5 ₁and the spacing between guide support 5 ₈ and movable-side supporter 7_(B) are about 49 degrees, wider than the other places. Movable-sidesupporters 7 _(A) and 7 _(B) support the end portions of cable guides 4_(A) and 4 _(B) securely such that cable guides 4 _(A) and 4 _(B) extendin the horizontal direction. Therefore, the wider spacing between eithermovable-side supporters 7 _(A) or 7 _(B) and guide support 5 than thoseat the other places does not cause any difficulty in supporting cableguides 4 _(A) and 4 _(B).

At a position at the angle of 180 degrees in movable-side member 1, anot-shown member is present. At the position at the angle of 180degrees, it should be avoided to provide guide support 5. Thus, guidesupports 5 ₄ and 5 ₅ are provided at the positions sandwiching theposition at the angle of 180 degrees, and, in total, eight guidesupports 5 are provided. In the reference state, guide supports 5 ₁, 5₂, and 5 ₃ support cable guide 4 _(A), and guide support 5 ₆, 5 ₇, and 5₈ support cable guide 4 _(B).

Referring to FIG. 11 to FIG. 15 , the structure of guide support 5 isdescribed. FIG. 11 is a perspective view of guide support 5. FIG. 12 isa front view in a state in which guide support 5 supports cable guide 4.FIG. 13 is a front view in a state in which guide support 5 is open.FIG. 14 is a front view illustrating a light ray emitted by opticalsensor in a state in which guide support 5 supports cable guide 4. FIG.15 is a diagram illustrating a drive mechanism for guide support 5. Thefront of guide support 5 is the side facing in the moving direction whenmovable-side member 1 moves rotationally counterclockwise.

Guide support 5 mainly includes a base frame 11, support rollers 12,movable frames 13, roller connecting portions 14, support springs 15,linear motor (LM) guide actuators 16, a motor 17, a gear 18, and shafts19. Base frame 11 is a frame extending horizontally and orthogonally tocable guide 4. Base frame 11 is fixed to movable-side member 1. Supportrollers 12 are members in contact with cable guide 4 and supportingcable guide 4. One guide support 5 includes two support rollers 12, twomovable frames 13, two LM guide actuators 16, and two shafts 19. Supportroller 12 present on the outer peripheral side of cable guide 4 isdenoted as support roller 12 _(P), and support roller 12 present on theinner peripheral side thereof is denoted as support roller 12 _(Q).Support rollers 12 of guide support 5 _(j) are denoted as supportrollers 12 _(Pj) and 12 _(Qj). When there are two members for one guidesupport 5, such as LM guide actuators 16, they are denoted similarly. InFIG. 12 to FIG. 14 , support roller 12 _(Q), movable frame 13 _(Q), andLM guide actuator 16 _(Q) on the right side in the drawings areillustrated in a state whose surfaces are removed. For one supportroller 12, one movable frame 13, one roller connecting portion 14, oneLM guide actuator 16, and two support springs 15 are provided.

Support roller 12 includes a disk-shaped portion and a cylindricalshaft. The disk-shaped portion of support roller 12 supports cable guide4 (upper guide 9) on its side surface. The shaft of support roller 12 isconnected to the disk-shaped portion at the center of the circle andextends vertically to the disk-shaped portion. About a half of thethickness of the disk-shaped portion on the side connected to the shaftis shaped like a cylinder. This cylinder has a small height compared toits radius. Another half on the farther side from the shaft has an endsurface having a diameter slightly smaller than the cylindrical portionand a side surface smoothly connected to the end surface. When viewedfrom the side, the disk-shaped portion has such a shape that the upperand lower corners on one side of a vertically long rectangle arereplaced by arcs. The corners replaced by arcs of the rectangle are thecorners on the farther side from the side connected to the shaft.

When support roller 12 starts being in contact with upper guide 9,support roller 12 rotates and friction is small. Since support roller 12has a disk-like shape having an end surface with a small diameter on thefarther side from the shaft (the side closer to upper guide 9), supportroller 12 can smoothly enters below upper guide 9 with a small frictionwhen moving and starting to support upper guide 9. After the positionwhere support roller 12 supports upper guide 9 is determined,movable-side member 1, support roller 12, and upper guide 9 rotate withthe relative positional relation therebetween being fixed. Therefore,while movable-side member 1 rotating, the place where support roller 12supports upper guide 9 does not move, and support roller 12 does notroll relative to upper guide 9. Rolling friction is not generatedbetween support roller 12 and upper guide 9.

Movable frame 13 is a member to which support roller 12 is connectedrotatably and which moves along base frame 11. Movable frame 13 ismainly present under base frame 11. The portion of movable frame 13 thatis below base frame 11 has a quadrangular prism-like outer shape.Movable frame 13 also extends above base frame 11 with base frame 11interposed. Movable frame 13 is driven by LM guide actuator 16 to move.

Roller connecting portion 14 is a member that connects support roller 12to movable frame 13 rotatably. One end of roller connecting portion 14is connected to the shaft of support roller 12. The shaft of supportroller 12 is held rotatably by roller connecting portion 14. Rollerconnecting portion 14 is connected to movable frame 13 such that theconnection angle between support roller 12 and movable frame 13 ischangeable. A spring that pushes the shaft of support roller 12 outwardis present in the inside of roller connecting portion 14. Therefore,when force is exerted to push support roller 12 in a direction towardroller connecting portion 14, the shaft of support roller 12 is moved toenter the inside of roller connecting portion 14. When the force pushingsupport roller 12 is not applied, the shaft of support roller 12 is putback to the original position by the spring.

The other end of roller connecting portion 14 is connected to movableframe 13 rotatably in a horizontal plane. Specifically, a rotation shaftprovided in movable frame 13 passes through the other end of rollerconnecting portion 14 in the upper-lower direction. Support spring 15 isprovided between roller connecting portion 14 and movable frame 13. Oneend of support spring 15 is connected to roller connecting portion 14.The other end of support spring 15 is connected to movable frame 13 at aposition to the right/left of and above support roller 12. In asituation in which support roller 12 is in contact with bending portion10, support roller 12 can be moved. Since support roller 12 is moved,cable guide 4 at support roller 12 and bending portion 10 is not brokeneven if bending portion 10 comes into contact with support roller 12.When the situation in which support roller 12 is in contact with bendingportion 10 is ended, support spring 15 puts roller connecting portion 14and support roller 12 back to the normal position.

LM guide actuator 16 is a member that moves movable frame 13 along baseframe 11. LM guide actuator 16 is provided for each movable frame 13. LMguide actuator 16 is provided such that movable frame 13 can be moved ina predetermined range from both ends of base frame 11. The predeterminedrange is a range including a position where support roller 12 supportscable guide 4 and a position where support roller 12 is located outsidecable guide 4. The outside of cable guide 4 means the outside of a spacebelow the upper side of cable guide 4 side (upper guide 9).

LM guide actuators 16 are provided on the upper side of the portionsclose to both ends of base frame 11. LM guide actuator 16 includes abody 20, a screw rod 21, movable portions 22, and a guide plate portion23. Body 20 is shaped like a box. Body 20 accommodates screw rod 21 anda lower portion of movable portion 22. Body 20 is fixed to base frame11. Guide plate portion 23 is fixed to body 20 at both ends on the upperside of body 20. Screw rod 21 is a cylindrical rod having a male screwon the outer surface. Screw rod 21 is held rotatably by body 20. One endof screw rod 21 is connected to shaft 19 outside of body 20. Screw rod21 is provided such that the rotation of shaft 19 is transmitted torotate screw rod 21.

In LM guide actuator 16, two movable portions 22 are provided with apredetermined spacing. Movable portion 22 has a portion exposed outsideof body 20 from an opening in the upper surface of body 20. Outside ofbody 20, movable frame 13 is fixed to two movable portions 22. Movableportion 22 has a screw hole and a guide hole. The screw hole has afemale screw in its inner surface to be fitted to the male screw ofscrew rod 21. Screw rod 21 passes through the screw hole. Guide plateportion 23 passes through the guide hole. Movable portion 22 is unableto rotate because screw rod 21 and guide plate portion 23 penetratetherethrough. When screw rod 21 rotates, movable portion 22 is movedalong screw rod 21. LM guide actuator 16 converts the rotation of screwrod 21 into linear movement of movable portion 22 and movable frame 13.

Motor 17 rotates shaft 19 to generate motive power that moves movableframe 13. Motor 17 is present in a horizontal plane and providedvertically to the side surface of base frame 11. The direction of therotation shaft of motor 17 and the direction in which shaft 19 extendare orthogonal to each other. One motor 17 is provided at the center ofbase frame 11. Gear 18 converts the rotation of motor 17 into rotationof two shafts 19. Gear wheels having teeth formed obliquely are meshedin gear 18. Gear 18 transmits the rotation of motor 17 to shafts 19provide to be orthogonal to motor 17. Motor 17 and gear 18 aresandwiched by two shafts 19, which extend toward both ends of base frame11. Each shaft 19 connects to screw rod 21 of LM guide actuator 16.Therefore, rotation of one motor 17 enables two movable frames 13 to bemoved by the same amount.

Optical sensors 24 are provided on the front side and the rear side ofguide support 5. The front side of guide support 5 is the side that ispresent in front of the movable-side member 1 when movable-side member 1rotates counterclockwise. Optical sensor 24 has an emission portion thatemits a light ray 25 at one of two movable frames 13 and alight-receiving portion that receives light ray 25 at the other of thetwo movable frame 13. Light ray 25 may be visible light or may beinfrared light. Light ray 25 may be laser light or may be other kinds oflight. Optical sensor 24 on the front side of guide support 5 is calledoptical sensor 24 _(V), and optical sensor 24 on the rear side is calledoptical sensor 24 _(W). Similarly, light ray 25 on the front side iscalled light ray 25 _(V), and light ray 25 on the rear side is calledlight ray 25 _(W). Optical sensor 24 is provided horizontally at aposition slightly higher than the shaft of support roller 12. Opticalsensor 24 emits and receives light ray 25 to detect whether or not anobject is present at a position where light ray 25 passes through. Lightray 25 _(V) emitted by optical sensor 24 _(V) is depicted by adashed-two dotted line in FIG. 14 . When the light-receiving portion isable to receive light ray 25, optical sensor 24 detects that no objectexists. When the light-receiving portion is unable to receive light ray25, optical sensor 24 detects that an object exists. Informationdetected by optical sensor 24 as to whether or not an object exists onan optical path of light ray 25 is called object detection information.

Optical sensors 24 are provided to detect that guide support 5 is closeto bending portion 10 of cable guide 4. When one of optical sensors 24_(V) and 24 _(w) begins detecting an object in a state in which neitheroptical sensor 24 _(V) nor 24 _(w) detects an object, guide support 5 isclose to bending portion 10. When optical sensor 24 detecting an objectstops detecting the object and neither optical sensor 24 _(V) nor 24_(w) detects an object, guide support 5 is present at a distance fromthe vicinity of bending portion 10. The position of movable frames 13 ischanged depending on whether or not optical sensors 24 detect bendingportion 10 (object). Accordingly, support rollers 12 are prevented frombeing in contact with bending portion 10.

Light ray 25 is emitted and received at a predetermined positionrelative to guide support 5. Therefore, optical sensor 24 detects anobject present at a predetermined position relative to guide support 5.That is, optical sensor 24 is detection sensor that detects bendingportion 10 present at a predetermined position relative to guide support5. The position irradiated with light ray 25 relative to guide support 5is determined at a position where movable frames 13 can be moved to anopen position before being in contact with bending portion 10, inconsideration of the rotation speed of movable-side member 1 and thespeed at which movable frames 13 of guide support 5 move. The objectdetection information is information indicating whether or not bendingportion 10 is present at a predetermined position relative to guidesupport 5.

Referring to FIG. 16 , the configuration of a control device thatcontrols rotational winding support apparatus 50 is described. Inrotational winding support apparatus 50, drive control device 40controls the rotation angle θ of movable-side member 1. An angle commandvalue θ_(C) and an angle measurement value θ_(R) are inputted to drivecontrol device 40. The angle command value θ_(C) is inputted from theoutside of drive control device 40. The angle measurement value θ_(R) ismeasured by an angle measuring device 41. Drive control device 40controls rotational winding support apparatus 50 such that the anglemeasurement value θ_(R) matches the angle command value θ_(C). Anglemeasuring device 41 is a rotation angle acquirer that acquires therotation angle of the movable-side member.

The object detection information detected by optical sensors 24 _(V) and24 _(W) installed at guide support 5 _(j) (j=1, 2, . . . , 8) isinputted to a guide support controller 26. A position in guide support 5_(j) where support rollers 12 _(Pj) and 12 _(Qj) support cable guide 4is referred to as support position. A position where support rollers 12_(Pj) and 12 _(Qj) do not support cable guide 4 and are never in contactwith bending portion 10 is referred to as open position. Guide supportcontroller 26 controls the support rollers 12 _(Pj) and 12 _(Qj) ofguide support 5 _(j) to be in either support position or the openposition, in accordance with the object detection information indicatingwhether or not light rays 25 _(V) and 25 _(W) are received.

Referring to FIG. 17 and FIG. 18 , how cable guide 4 is moved byrotation of movable-side member 1 is described. FIG. 17 and FIG. 18 arediagrams illustrating how cable guide 4 is moved when movable-sidemember 1 rotates. In FIG. 17 , movable-side member 1 rotatescounterclockwise, and in FIG. 18 , it rotates clockwise.

FIG. 17(A) and FIG. 18(A) show a state before movable-side member 1rotates. FIG. 17(A) and FIG. 18(A) are the same drawing. Cable guide 4_(B) is supported by guide supports 5 ₆, 5 ₇, and 5 ₈. Guide supports 5are provided at about 2 m intervals whereby the sagging of cable guide 4_(B) can be reduced. When guide supports 5 ₇ and 5 ₈ are not provided,as indicated by a broken line in FIG. 17(A) and FIG. 18(A), cable guide4 _(B) sags significantly. In FIG. 17(A) and FIG. 18(A), a boundarypoint Pu between upper guide 9 _(B) and bending portion 10 _(B) and aboundary point PD between lower guide 8 _(B) and bending portion 10 _(B)are depicted by white circles.

When movable-side member 1 rotates counterclockwise, the state shown inFIG. 17(A) is changed to the state shown in FIG. 17(B). Upper guide 9_(B) and guide supports 5 ₄, 5 ₅, 5 ₆, 5 ₇, and 5 ₈ are moved at thesame speed. Upper guide 9 _(B) and guide supports 5 ₄, 5 ₅, 5 ₆, 5 ₇,and 5 ₈ are moved counterclockwise by a distance L_(MV). The distance isa distance on the circumference on which movable-side supporter 7 _(B)on the outer peripheral side of movable-side member 1 is moved byrotation. The distance L_(MV) is a distance corresponding to the lengthof bending portion 10 _(B). The portion that has been bending portion 10_(B) (a half on the side closer to upper guide 9 _(B)) in the stateshown in FIG. 17(A) is changed to upper guide 9 _(B) in FIG. 17(B). Theportion that has been lower guide 8 _(B) (on the side closer to bendingportion 10 _(B)) is changed to bending portion 10 _(B) in FIG. 17(B). Asa result, upper guide 9 _(B) becomes longer by a distance 0.5*L_(MV).Bending portion 10 _(B) is moved counterclockwise by the distance0.5*L_(mv). Lower guide 8 _(B) becomes shorter by the distance0.5*L_(MV). Guide support 5 _(B) is moved to get ahead of bendingportion 10 _(B), and guide support 5 ₅ supports upper guide 9 _(B).

When movable-side member 1 rotates clockwise, the state shown in FIG.18(A) is changed to the state shown in FIG. 18(B). Upper guide 9 _(B)and guide supports 5 ₄, 5 ₅, 5 ₆, 5 ₇, and 5 ₈ are moved at the samespeed. Upper guide 9 _(B) and guide supports 5 ₄, 5 ₅, 5 ₆, 5 ₇, and 5 ₈are moved clockwise by a distance L_(MV). The portion that has beenbending portion 10 _(B) (a half on the side closer to lower guide 8_(B)) in the state shown in FIG. 18(A) is changed to lower guide 8 _(B)in FIG. 18(B). The portion that has been upper guide 9 _(B) (on the sidecloser to bending portion 10 _(B)) is changed to bending portion 10 _(B)in FIG. 18(B). As a result, upper guide 9 _(B) becomes shorter by adistance 0.5*L_(mv). Bending portion 10 _(B) is moved clockwise by thedistance 0.5*L_(MV). Lower guide 8 _(B) becomes longer by the distance0.5*L_(MV). Guide support 5 ₅ that has been closest to bending portion10 _(B) is moved away, and guide support 5 ₆ becomes closest to bendingportion 10 _(B).

When movable-side member 1 rotates, in cable guide 4, a portion in whichboth of lower guide 8 and upper guide 9 are present in thecircumferential direction is changed to a portion in which only lowerguide 8 or upper guide 9 is present, or a portion in which only lowerguide 8 or upper guide 9 is present is changed to a portion in whichboth of lower guide 8 and upper guide 9 are present. The amount ofchange in length of the portion in which both of lower guide 8 and upperguide 9 are present is half the amount of movement of upper guide 9.

The moving distance of bending portion 10 is half, compared with themoving distance of movable-side member 1 and guide support 5. Therefore,when movable-side member 1 rotates, guide support 5 is moved to getahead of bending portion 10. Guide support controller 26 performscontrol such that the guide support 5 that is getting ahead takes theopen position so that guide support 5 does not come into contact withbending portion 10 while getting ahead. When guide support 5 is requiredto support upper guide 9, guide support controller 26 performs controlsuch that the guide support 5 takes the support position.

As shown in FIG. 17 and FIG. 18 , each of guide supports 5 ₆, 5 ₇, and 5₈ supports upper guide 9 _(B) at a predetermined position. Whilemovable-side member 1 rotates, the position where each of guide supports5 ₆, 5 ₇, and 5 ₈ supports upper guide 9 _(B) does not move. Guidesupports 5 ₆, 5 ₇, and 5 ₈ support upper guide 9 _(B) at the samepredetermined position while supporting upper guide 9 _(B). In FIG.17(B), guide support 5 ₅ which supports newly upper guide 9 _(B) alsosupports upper guide 9 _(B) at the same predetermined position whilesupporting upper guide 9 _(B).

Each of guide supports 5 is an upper supporter that supports upper guide9 at a predetermined position of cable guide 4 and is moved with themovement of movable-side member 1 to pass bending portion 10. Rotationalwinding support apparatus 50 is a support apparatus including aplurality of tubes 3 _(A) and 3 _(B), cable guides 4 _(A) and 4 _(B)holding the plurality of tubes 3 _(A) and 3 _(B), fixed-side member 2,and guide supports 5.

Movable-side member 1 moves rotationally in a range of the rotationangle θ of +225 degrees to −225 degrees. The states of movable-sidemember 1 rotating from the reference state at θ=0 degrees to θ=225degrees are shown in FIG. 19 to FIG. 32 . FIG. 19 to FIG. 22 areperspective views showing the states of rotation every 45 degrees, notshowing the movable-side member. FIG. 23 to FIG. 27 are a perspectiveview, a front view, a plan view, a right-side view, and a rear view,respectively, of the rotational winding support apparatus rotated by 225degrees. FIG. 28 to FIG. 32 are a perspective view, a front view, a planview, a right-side view, and a rear view, respectively, of therotational winding support apparatus rotated by 225 degrees, not showingthe movable-side member.

When movable-side member 1 rotates, bending portions 10 _(A) and 10 _(B)are moved over an angle being half of the angle by which movable-sidemember 1 rotates. Therefore, guide supports 5 supporting upper guides 9_(A) and 9 _(B) of cable guides 4 _(A) and 4 _(B) are changed with therotation angle of movable-side member 1. With rotation by 45 degreesshown in FIG. 19 , upper guide 9 _(A) is supported by guide supports 5₁, 5 ₂, and 5 ₃, and upper guide 9 _(B) is supported by guide supports 5₅, 5 ₆, 5 ₇, and 5 ₈. With rotation by 90 degrees shown in FIG. 20 ,upper guide 9 _(A) is supported by guide supports 5 ₁ and 5 ₂, and upperguide 9 _(B) is supported by guide supports 5 ₄, 5 ₅, 5 ₆, 5 ₇, and 5 ₈.With rotation by 135 degrees shown in FIG. 21 , upper guide 9 _(A) issupported by guide supports 5 ₁, and upper guide 9 _(B) is supported byguide supports 5 ₃, 5 ₄, 5 ₅, 5 ₆, 5 ₇, and 5 ₈. With rotation by 180degrees shown in FIG. 22 , upper guide 9 _(A) is supported by guidesupports 5 ₁, and upper guide 9 _(B) is supported by guide supports 5 ₂,5 ₃, 5 ₄, 5 ₅, 5 ₆, 5 ₇, and 5 ₈. With rotation by 225 degrees shown inFIG. 23 to FIG. 32 , upper guide 9 _(A) is supported by no guide support5, and upper guide 9 _(B) is supported by guide supports 5 ₁, 5 ₂, 5 ₃,5 ₄, 5 ₅, 5 ₆, 5 ₇, and 5 ₈.

The operation is described. Cable guides 4 are supported by fixed-sidemember 2 and guide supports 5. It is determined each guide support 5supports which of cable guide 4 _(A) and 4 _(B) (upper guides 9 _(A) and9 _(B)) or does not support neither of them depending on the position ofmovable-side member 1. Since a plurality of guide supports 5 supportupper guides 9 at intervals determined as appropriate, upper guides 9 donot slag excessively. Since guide supports 5 and cable guides 4 _(A) and4 _(B) supported by guide supports 5 are moved together withmovable-side member 1, no friction is generated between cable guides 4_(A) and 4 _(B) and support rollers 12 also while movable-side member 1moves.

Since support rollers 12 are rotatable, friction between support rollers12 and cable guides 4 can be reduced at any time when support rollers 12start being in contact with cable guide 4 and when they come out ofcontact with cable guide 4, and when the slagging state of cable guide 4is changed and cable guide 4 is moved.

When movable-side member 1 rotates, the positional relation betweenbending portion 10 _(A) and 10 _(B) of cable guide 4 _(A) and 4 _(B) andguide support 5 _(j) (j=1, 2, . . . , 8) changes. When movable-sidemember 1 rotates, guide support controller 26 also controls each guidesupport 5 _(j) such that support rollers 12 of guide support 5 _(j) arenot in contact with bending portion 10 _(A) and 10 _(B). Guide supportcontroller 26 controls the opening and closing of movable frames 13 andperforms control such that support rollers 12 can be changed from astate of supporting cable guide 4 _(A) or 4 _(B) to a state of notsupporting or from a state of not supporting to a state of supporting,without support rollers 12 being in contact with bending portion 10 _(A)or 10 _(B). Guide support controller 26 controls each guide support 5_(j), based on whether or not optical sensors 24 _(V) and 24 _(W)installed in the guide support 5 _(j) receive light rays 25 _(V) and 25_(W).

An example of controlling guide supports 5 is described with referenceto FIG. 33 to FIG. 40 . FIG. 33 to FIG. 40 show the process in whichmovable-side member 1 rotates counterclockwise, and guide support 5 thathas not supported cable guide 4 _(A) or 4 _(B) comes to support cableguide 4 _(B) without being in contact with bending portion 10 _(B). InFIG. 33 , optical sensor 24 _(V) on the front side of guide support 5detects an object (bending portion 10 _(B)). As shown in FIG. 34 , guidesupport controller 26 performs control such that guide support 5 takesthe open position. When movable-side member 1 rotates 5 degrees, thestate shown in FIG. 34 is changed to the state shown in FIG. 35 . InFIG. 35 , optical sensor 24 _(V) still detects the object, and opticalsensor 24 _(W) does not detect the object. When movable-side member 1rotates 5 degrees, the state shown in FIG. 35 is changed to the stateshown in FIG. 36 . In FIG. 36 , both of optical sensors 24 _(V) and 24_(W) detect the object. When movable-side member 1 rotates 5 degrees,the state shown in FIG. 36 is changed to the state shown in FIG. 37 . InFIG. 37 , both of optical sensors 24 _(V) and 24 _(W) still detect theobject. When movable-side member 1 rotates 5 degrees, the state shown inFIG. 37 is changed to the state shown in FIG. 38 . In FIG. 38 , opticalsensor 24 _(V) does not detect the object, and optical sensor 24 _(W)detects the object. When movable-side member 1 rotates 5 degrees, thestate shown in FIG. 38 is changed to the state shown in FIG. 39 . InFIG. 38 , optical sensors 24 _(V) and 24 _(W) do not detect the object.In FIG. 39 , guide support 5 can be moved to the support positionwithout being in contact with bending portion 10 _(B). In the stateshown in FIG. 39 , guide support controller 26 performs control suchthat guide support 5 takes the support position. As a result, the stateshown in FIG. 40 is taken.

When movable-side member 1 rotates clockwise from the state shown inFIG. 40 , guide support 5 takes the support position until the rotationangle being the angle shown in FIG. 38 . In FIG. 38 , optical sensor 24_(V) on the front side does not detect an object, and optical sensor 24_(W) on the rear side detects an object. When movable-side member 1further rotates while guide support 5 being kept in the supportposition, guide support 5 comes into contact with bending portion 10_(B). At the rotation angle shown in FIG. 38 , guide support controller26 performs control such that guide support 5 takes the open position sothat guide support 5 does not come into contact with bending portion 10_(B). As a result, as shown in FIG. 38 , guide support 5 comes to takethe open position. Subsequently, when movable-side member 1 furtherrotates clockwise, the state shown in FIG. 34 is taken. Movable-sidemember 1 rotates clockwise while guide support 5 being in the openposition, and neither optical sensor 24 _(V) nor 24 _(W) detects anobject at a rotation angle rotated from FIG. 33 . At that rotationangle, guide support controller 26 performs control such that guidesupport 5 takes the support position.

Guide support controller 26 performs control as follows.

(i) In a case in which either optical sensor 24 _(V) or 24 _(W) detectsan object while guide support 5 being in the support position, guidesupport controller 26 moves movable frames 13 to the open position inguide support 5.

(ii) In a case in which neither optical sensor 24 _(V) nor 24 _(W)detects an object while guide support 5 being in the open position,guide support controller 26 moves movable frames 13 to the supportposition in guide support 5.

In a state in which guide support 5 supports neither cable guide 4 _(A)nor 4 _(B), the guide support controller may perform control such thatguide support 5 is in the open position even when neither optical sensor24 _(V) nor 24 _(W) detects an object. In order to do so, the anglemeasurement value θ_(R) may be inputted to the guide support controller,and whether or not guide support 5 is in a state of supporting neithercable guide 4 _(A) nor 4 _(B) may be determined based on the anglemeasurement value θ_(R). Whether or not guide support 5 is in a state ofsupporting neither cable guide 4 _(A) nor 4 _(B) may be determined onlybased on the object detection information from optical sensors 24 _(V)and 24 _(W).

In a state in which guide support 5 supports neither cable guide 4 _(A)nor 4 _(B), guide support controller 26A performs control such thatguide support 5 is in the open position even if neither optical sensor24 _(V) nor 24 _(W) detects an object. Guide support controller 26Adetects that guide support 5 in the open position is present at aposition to be able to support either cable guide 4 _(A) or 4 _(B) andmoves guide support 5 from the open position to the support position.

Guide support controller 26A performs control as follows, based on theobject detection information from optical sensors 24 _(V) and 24 _(W).

(i) In a case in which either optical sensor 24 _(V) or 24 _(W) detectsan object while guide support 5 being in the support position, guidesupport controller 26A moves movable frames 13 of guide support 5 to theopen position.

(ii-1) In a case in which neither optical sensor 24 _(V) nor 24 _(W)detects an object without detecting passage of the object, guide supportcontroller 26A moves movable frames 13 of guide support 5 to the supportposition.

(ii-2) In a case in which passage of one object rotating clockwise andpassage of one object rotating counterclockwise are detected after guidesupport 5 is moved from the support position to the open position, andneither optical sensor 24 _(V) nor 24 _(W) detects an object, guidesupport controller 26A moves movable frames 13 of guide support 5 to thesupport position.

(ii-3) In a case in which passage of two objects is detectedsuccessively in the same direction after guide support 5 is moved fromthe support position to the open position and neither optical sensor 24_(V) nor 24 _(W) detects an object, guide support controller 26A movesmovable frames 13 of guide support 5 to the support position.

Passage of an object is detected in the following cases. Here, theobject detection information d_(V) and d_(W) of optical sensors 24 _(V)and 24 _(W) is denoted as (d_(V), d_(W)). The object detectioninformation d_(V) and d_(W) that an object is detected is denoted by o,and that an object is not detected is denoted by x.

(A) (x, x)→(o, x)→(o, o)→(x, o)→(x, x)

(B) (x, x)→(x, o)→(o, o)→(o, x)→(x, x)

In other words, passage of an object means that after both of opticalsensors 24 _(V) and 24 _(W) are detecting the object simultaneously,that on the side detecting the object earlier stops detecting the objectearlier, and neither optical sensor 24 _(V) nor 24 _(W) detects theobject. In the example above, (A) is a case where passage of an objectis detected in counterclockwise rotation. (B) is a case where passage ofan object is detected in clockwise rotation.

Passage of an object is not detected in the following cases.

(C) (x, x)→(o, x)→(o, o)→(o, x)→(x, x)

(D) (x, x)→(x, o)→(o, o)→(x, o)→(x, x)

(E) (x, x)→(o, x)→(x, x)

(F) (x, x)→(x, o)→(x, x)

The state (o, o) in examples (A) to (D) includes the following caseswhere each change is repeated one or more times.

(G) (o, o)→(o, x)→(o, o)

(H) (o, o)→(x, o)→(o, o)

Examples (E) and (F) are cases where an object is not detected aftereither optical sensor 24 _(V) or 24 _(W) detects the object. Examples(C) and (D) are cases where after both of optical sensors 24 _(V) and 24_(W) are detecting an object simultaneously, that on the side detectingthe object later stops detecting the object earlier, and neither opticalsensor 24 _(V) nor 24 _(W) does not detect the object. The condition(ii-1) is satisfied one of examples (C) to (F) is detected withoutdetecting either examples (A) or (B).

The state in which guide support 5 supports neither cable guide 4 _(A)nor 4 _(B) is a state in which passage of one object is detected andpassage of two objects in the same direction successively is notdetected while guide support 5 which is moved from the support positionbeing in the open position. That is, it is the state in which examples(A) or (B) is detected and the condition (ii-2) or (ii-3) is notsatisfied.

Guide support controller 26 is an upper supporter opening/closingcontroller that moves guide support 5 from the support position forsupporting upper guide 9 to the open position that is a position neverbeing in contact with bending portion 10 when optical sensors 24 detectthat guide support 5 supporting upper guide 9 is close to bendingportion 10, and moves guide support 5 to the support position whenoptical sensors 24 detect that guide support 5 in the open position ispresent at a distance from bending portion 10.

Guide support controller 26A is an upper supporter opening/closingcontroller that moves guide support 5 from the support position forsupporting upper guide 9 to the open position that is a position neverbeing in contact with bending portion 10 when optical sensor 24 detectsthat guide support 5 supporting upper guide 9 is close to bendingportion 10, and moves guide support 5 to the support position when it isdetected that guide support 5 in the open position can support upperguide 9 by moving to the support position, based on the object detectioninformation.

The spacing between support rollers 12 is controlled to be wide in thevicinity of bending portion 10 so that guide support 5 does not comeinto contact with bending portion 10 of cable guide 4. Therefore,friction caused by guide support 5 being in contact with bending portion10 can be reduced.

Support rollers 12 of guide support 5 are controlled so as not to comeinto contact with bending portion 10 when movable-side member 1 rotates.The position of support rollers 12 is controlled based on the objectdetection information from optical sensors 24 _(V) and 24 _(W). Whenoptical sensors 24 _(V) and 24 _(W) or guide support controller 26 isout of order, for example, support rollers 12 come into contact withbending portion 10. Even if support rollers 12 come into contact withbending portion 10, support rollers 12 connected to movable frames 13rotatably can pass bending portion 10. Therefore, even if guide support5 comes into contact with cable guide 4, cable guide 4 or guide support5 is not broken.

Referring to FIG. 41 , the process in which support roller 12 cominginto contact with bending portion 10 is moved and guide support 5 passesthrough bending portion 10 is described. In the state shown in FIG.41(A), support roller 12 is in contact with bending portion 10. Supportroller 12 is connected to movable frame 13 rotatably by rollerconnecting portion 14 and connected to movable frame 13 by two supportsprings 15. The connection angle between support roller 12 and movableframe 13 becomes smaller than the right angle, and the state shown inFIG. 41(B) is taken. Furthermore, when movable-side member 1 rotates, asshown in FIG. 41(C), support roller 12 is in contact with the sidesurface of bending portion 10. Although not shown in the drawing, whenmovable-side member 1 further rotates, support roller 12 comes out ofcontact with bending portion 10. Support spring 15 then bring supportroller 12 into the normal position.

Pipes for use other than the hydraulic mechanism may be protected andheld by the cable guide, instead of tubes 3. Cables transmitting poweror information may be protected and held by the cable guide, instead ofpipes. Cables and pipes may be protected and held by the cable guide.

The support apparatus according to the present disclosure can be appliedwhen the movable-side member moves linearly instead of rotating. Whenthe movable-side member moves linearly instead of moving rotationally,the cable guide having a bending portion and located above and below canbe supported by the guide supports being moved together with themovable-side member, thereby achieving reduction in friction between thecable guide and the guide supports.

The foregoing description is applicable to other embodiments.

Second Embodiment

In a second embodiment, the first embodiment is modified such that thesupport rollers are controlled to take the support position and the openposition, based on the rotation angle of the movable-side member.Referring to FIG. 42 , a configuration of the control device thatcontrols a rotational winding support apparatus 50A according to thesecond embodiment is described. Guide supports 5A of rotational windingsupport apparatus 50A have no optical sensor 24. Drive control device 40has the same configuration as the first embodiment and operatessimilarly.

An angle measurement value θ_(R) is inputted to a guide supportcontroller 26B. Guide support controller 26B refers to an angle-supportposition correspondence table 27 with the inputted angle measurementvalue θ_(R) and determines which of the support position or the openposition each guide support 5A is to take. Angle-support positioncorrespondence table 27 is a table in which the rotatable range ofrotation angle θ of movable-side member 1 is divided into a plurality ofsections and which of the support position or the open position is takenby each guide support 5A is specified in each section.

Referring to FIG. 43 , angle-support position correspondence table 27 isdescribed. In angle-support position correspondence table 27, therotational range +225 degrees to −225 degrees of movable-side member 1is divided into a plurality of sections. Each section is defined suchthat the position of any guide support 5A_(j) is different from those inthe other sections. FIG. 43 shows three sections in the vicinity ofθ_(R)=0 degrees. Here, θ_(R) is measured in units of 0.1 degrees. In thesection of 7.5 degrees≥θ_(R)≥−7.5 degrees, as shown in FIG. 1 to FIG. 10, guide supports 5A₄ and 5A₅ are in the open position. When movable-sidemember 1 rotates counterclockwise, the section is changed to the sectionof 41.8 degrees≥θ_(R)≥7.6 degrees, and guide support 5A₅ is changed tothe support position. In the section of 41.8 degrees≥θ_(R)≥7.6 degrees,guide support 5A₅ in the support position supports cable guide 4 _(B),and guide support 5A₄ is in the open position. When movable-side member1 rotates further counterclockwise, guide support 5A₃ in the supportposition is not in contact with bending portion 10 _(A) while 41.8degrees≥θ_(R) being satisfied. At θ_(R)≥41.9 degrees, if guide support5A₃ was in the support position, guide support 5A₃ would come intocontact with bending portion 10 _(A), and therefore guide support 5A₃ ismoved to the open position.

Guide support controller 26B refers to angle-support positioncorrespondence table 27 with the inputted angle measurement value θ_(R).Referring to angle-support position correspondence table 27, guidesupport controller 26B acquires the position of guide support 5A_(j) inthe section including θ_(R). When the position of guide support 5A_(j)at that point of time is different from the position determined byreferring to angle-support position correspondence table 27, guidesupport controller 26B changes the position of guide support 5A_(j).

When the position of guide support 5A_(j) at that point of time is thesupport position and the position determined by referring toangle-support position correspondence table 27 with the anglemeasurement value θ_(R) is the open position, it is detected that guidesupport 5A_(j) is close to bending portion 10, based on the rotationangle. When it is detected that bending portion 10 is close to, guidesupport controller 26B moves guide support 5A_(j) from the supportposition to the open position.

When the position of guide support 5A_(j) at that point of time is theopen position and the position determined by referring to angle-supportposition correspondence table 27 with the angle measurement value θ_(R)is the support position, it is detected that guide support 5A_(j) in theopen position can support upper guide 9 by moving to the supportposition, based on the detection angle. When it is detected that guidesupport 5A_(j) can support upper guide 9, guide support controller 26Bmoves guide support 5A_(j) from the open position to the supportposition.

Referring to angle-support position correspondence table 27 simplifiesthe processing in guide support controller 26B. Angle-support positioncorrespondence table 27 specifies which of the support position or theopen position is to be taken for all the guide supports 5 for each anglesection. The angle-support position correspondence table may specify asection of angles that is the support position or the open position foreach guide support 5. The angle-support position correspondence tablemay be any table that can determine which of the support position andthe open position each guide support 5 is to take, for the anglemeasurement value θ_(R). Which of the support position and the openposition each guide support 5 is to take for the angle measurement valueθ_(R) can be determined by a method that does not use the angle-supportposition correspondence table.

Guide support controller 26B is an upper supporter opening/closingcontroller that moves guide support 5A_(j) being close to bendingportion 10 from the support position for supporting upper guide 9 to theopen position that is a position never being in contact with bendingportion 10 when it is detected that any guide support 5A_(j) is close tobending portion 10 based on the rotation angle, and moves guide support5A from the open position to the support position when it is detectedthat guide support 5A_(j) in the open position can support upper guide 9by moving to the support position, based on the rotation angle.

In a case in which the guide support controller detects that guidesupport 5A_(j) in the open position is present at a distance frombending portion 10, based on the rotation angle, guide support 5A_(j)may be moved from the open position to the support position. In such acase, angle-support position correspondence table 27 specifies thatguide support 5A_(j) takes the support position at the rotation angle atwhich guide support 5A_(j) is positioned away from bending portion 10.The rotation angle at which guide support 5A_(j) is positioned away frombending portion 10 is a rotation angle having an appropriate allowanceangle to the range of rotation angles in which guide support 5A_(j)intersects bending portion 10.

Since guide support 5 is controlled based on the rotation angle ofmovable-side member 1, a sensor for detecting the bending portionbecomes unnecessary. Since the sensor is unnecessary, the structure ofthe rotational winding support apparatus can be simplified.

The foregoing description is applicable to other embodiments.

Third Embodiment

In a third embodiment, the movable-side member moves linearly and thesupport rollers are controlled to take the support position and the openposition based on the position of the movable-side member. Referring toFIG. 44 , the configuration of a linear drive support apparatus and thecontrol device therefore according to the third embodiment is described.

Although not shown in the drawing, a linear movement support apparatus60 has a structure to allow a movable-side member 1C to move linearly.Therefore, in linear movement support apparatus 60, a fixed-side member2C and movable-side member 1C are provided linearly. Movable-side member1C moves in a space above fixed-side member 2C.

Guide supports 5C are provided at predetermined intervals abovefixed-side member 2C so as to intersect movable-side member 1C. Guidesupports 5C have a structure similar to guide supports 5A in the secondembodiment.

Tube 3C has one end connected to fixed-side member 2C and the other endconnected to movable-side member 1C. Cable guide 4C also has one endconnected to fixed-side member 2C and the other end connected tomovable-side member 1C. Cable guide 4C is also a protective frameconnected body in which protective frames similar to those in the firstand second embodiments are connected in the extending direction flexiblyto protect tube 3C flexibly. Cable guide 4C has a lower guide 8C, anupper guide 9C, and a bending portion 10C. Lower guide 8C is placed onthe upper surface of fixed-side member 2C. Upper guide 9C is supportedby guide supports 5C. Bending portion 10C is a portion of cable guide 4Cat which the protective frame bodies are bent in an arc shape. Bendingportion 10C is present between lower guide 8C and upper guide 9C. Aplurality of protective frame bodies are connected while being bent atbending portion 10C, whereby upper guide 9C is present in the spaceabove lower guide 8C.

A linear drive control device 61 moves linear drive support apparatus 60linearly such that the position specified by a position command value acis taken. The position command value ac is inputted from external. Aposition sensor 62 detects the position α_(R) of movable-side member 1Crelative to fixed-side member 2C. Position sensor 62 is a movable-sidemember position acquirer that detects a movable-side member positionthat is a position of movable-side member 1C relative to fixed-sidemember 2C.

The movable-side member position α_(R) is inputted to guide supportcontroller 26C. Guide support controller 26C refers to a movable-sidemember position-support position correspondence table 63 with theinputted movable-side member position α_(R) to determine which of thesupport position or the open position each guide support 5C is to take,and controls each guide support 5C such that the determined position istaken. Movable-side member position-support position correspondencetable 63 is a table in which the movable range of movable-side memberposition α_(R) is divided into a plurality of sections and which of thesupport position or the open position is taken by each guide support 5Cis specified for each section.

Guide support controller 26C is an upper supporter opening/closingcontroller that moves guide support 5C_(j) being close to bendingportion 10C from the support position for supporting upper guide 9C tothe open position that is a position never being in contact with bendingportion 10C when it is detected that any guide support 5C_(j) is closeto bending portion 10C, based on the movable-side member position α_(R),and moves guide support 5C_(j) from the open position to the supportposition when it is detected that guide support 5C_(j) in the openposition can support upper guide 9C by moving to the support position,based on the movable-side member position.

In a case in which the guide support controller detects that guidesupport 5C_(j) in the open position is present at a distance frombending portion 10, based on the movable-side member position, guidesupport 5C_(j) may be moved from the open position to the supportposition. In such a case, movable-side member position-support positioncorrespondence table 63 specifies that guide support 5C_(j) takes thesupport position at the movable-side member position at which guidesupport 5C_(j) is positioned away from bending portion 10. Themovable-side member position at which guide support 5C_(j) is positionedaway from bending portion 10 is a movable-side member position away fromthe range of movable-side member position at which guide support 5C_(j)intersects bending portion 10 by an appropriate allowance angle.

The position at which guide support 5C supports upper guide 9C is apredetermined positions. Guide support 5C supports upper guide 9C at apredetermined position. Guide support 5C supports the same position ofupper guide 9C while supporting upper guide 9C. Therefore, frictionbetween guide support 5C and upper guide 9C can be reduced. Since cableguide 5C is not in contact with bending portion 10C, friction caused bycable guide 5C being in contact with bending portion 10C can be reduced.

The embodiments can be combined freely, or the embodiments are subjectto modification and omission of some of constituent elements, or theembodiments with some of constituent elements eliminated or modified maybe combined freely.

REFERENCE SIGNS LIST

-   -   50, 50A rotational winding support apparatus (support        apparatus),    -   1, 1C movable-side member,    -   2, 2C fixed-side member (lower supporter),    -   3, 3 _(A), 3 _(B), 3C tube (protection target),    -   4, 4 _(A), 4 _(B), 4C cable guide (protective frame connected        body),    -   5, 5 ₁, 5 ₂, 5 ₃, 5 ₄, 5 ₅ guide support (upper supporter),    -   5 ₆, 5 ₇, 5 ₈ guide support (upper supporter),    -   5A, 5C guide support (upper supporter),    -   6 _(A), 6 _(B) fixed-side supporter,    -   7 _(A), 7 _(B) movable-side supporter,    -   8 _(A), 8 _(B), 8C lower guide (lower side of protective frame        connected body),    -   9 _(A), 9 _(B), 9C upper guide (upper side of protective frame        connected body),    -   10 _(A), 10 _(B), 10C bending portion,    -   11 base frame,    -   12, 12 _(P), 12 _(Q), 12 _(P1), 12 _(Q1), 12 _(P2), 12 _(Q2)        support roller,    -   12 _(P3), 12 _(Q3), 12 _(P4), 12 _(Q4), 12 _(P5), 12 _(Q5)        support roller,    -   12 _(P6), 12 _(Q6), 12 _(P7), 12 _(Q7), 12 _(P8), 12 _(Q8)        support roller,    -   13, 13 _(P), 13 _(Q) movable frame,    -   14, 14 _(P), 14 _(Q) roller connecting portion,    -   15 support spring,    -   16, 16 _(P), 16 _(Q) LM guide actuator,    -   17 motor,    -   18 gear,    -   19, 19 _(P), 19 _(Q) shaft,    -   20 body,    -   21 screw rod,    -   22 movable portion,    -   23 guide plate portion,    -   24, 24 _(V), 24 _(W) optical sensor (detection sensor),    -   25, 25 _(V), 25 _(W) light ray,    -   26, 26A, 26B, 26C guide support controller (upper supporter        opening/closing controller),    -   27 angle-support position correspondence table,    -   40 drive control device,    -   41 angle measuring device (rotation angle acquirer),    -   60 linear movement support apparatus (support apparatus),    -   61 linear drive control device,    -   62 position sensor (movable-side member position acquirer)    -   63 movable-side member position-support position correspondence        table.

The invention claimed is:
 1. A support apparatus comprising: aprotective frame connected body to hold a plurality of protectiontargets flexibly, each of the plurality of protection targets being aflexible cable or pipe having one end connected to a fixed-side memberand the other end connected to a movable-side member that moves relativeto the fixed-side member, the protective frame connected body includinga plurality of protective frame bodies connected flexibly in anextending direction that is a direction in which the protection targetsextend, each of the plurality of protective frame bodies having aplurality of holes to allow the plurality of protection targets to passthrough and having a predetermined length in the extending direction,the protective frame connected body being bent in an arc shape andhaving a bending portion bent in a middle, an upper side and a lowerside of the protective frame connected body being overlapped vertically;a lower supporter in an arc shape to support the lower side of theprotective frame connected body; a plurality of upper supporters, eachof the plurality of upper supporters to support the upper side of theprotective frame connected body at a predetermined position of theprotective frame connected body, being moved by movement of themovable-side member to pass the bending portion without being in contactwith the bending portion, and to intersect the protective frameconnected body in the arc shape viewed from above; a rotation angleacquirer to acquire a rotation angle of the movable-side member; and anupper supporter opening/closing controller to move each of the pluralityof upper supporters being close to the bending portion from a supportposition for supporting the upper side of the protective frame connectedbody to an open position that is a position never being in contact withthe bending portion when it is detected that any of the plurality ofupper supporters is close to the bending portion, based on the rotationangle, and to move the upper supporter in the open position to thesupport position when it is detected that the upper supporter in theopen position is present at a distance from the bending portion, basedon the rotation angle.
 2. The support apparatus according to claim 1,comprising two protective frame connected bodies, wherein the twoprotective frame connected bodies are arranged such that the bendingportions of the two protective frame connected bodies are adjacent toeach other.
 3. The support apparatus according to claim 1, wherein eachof the plurality of upper supporters is to be moved when pushed by thebending portion being in contact with the upper supporter, and to beable to pass the bending portion.
 4. A support apparatus comprising: aprotective frame connected body to hold a plurality of protectiontargets flexibly, each of the plurality of protection targets being aflexible cable or pipe having one end connected to a fixed-side memberand the other end connected to a movable-side member that moves relativeto the fixed-side member, the protective frame connected body includinga plurality of protective frame bodies connected flexibly in anextending direction that is a direction in which the protection targetsextend, each of the plurality of protective frame bodies having aplurality of holes to allow the plurality of protection targets to passthrough and having a predetermined length in the extending direction,the protective frame connected body being bent in an arc shape andhaving a bending portion bent in a middle, an upper side and a lowerside of the protective frame connected body being overlapped vertically;a lower supporter in an arc shape to support the lower side of theprotective frame connected body; a plurality of upper supporters, eachof the plurality of upper supporters to support the upper side of theprotective frame connected body at a predetermined position of theprotective frame connected body, being moved by movement of themovable-side member to pass the bending portion without being in contactwith the bending portion, and to intersect the protective frameconnected body in the arc shape viewed from above; a rotation angleacquirer to acquire a rotation angle of the movable-side member; and anupper supporter opening/closing controller to move each of the pluralityof upper supporters being close to the bending portion from a supportposition for supporting the upper side of the protective frame connectedbody to an open position that is a position never being in contact withthe bending portion when it is detected that any of the plurality ofupper supporters is close to the bending portion, from the rotationangle, and to move the upper supporter in the open position to thesupport position when it is detected that the upper supporter in theopen position is able to support the upper side of the protective frameconnected body by moving to the support position, based on the rotationangle.
 5. The support apparatus according to claim 4, comprising twoprotective frame connected bodies, wherein the two protective frameconnected bodies are arranged such that the bending portions of the twoprotective frame connected bodies are adjacent to each other.
 6. Thesupport apparatus according to claim 4, wherein each of the plurality ofupper supporters is to be moved when pushed by the bending portion beingin contact with the upper supporter, and to be able to pass the bendingportion.